Title :
An exponentially stable adaptive friction compensator
Author :
Liao, Teh-Lu ; Chien, Tsun-I
Author_Institution :
Dept. of Eng. Sci., Nat. Cheng Kung Univ., Tainan, Taiwan
fDate :
5/1/2000 12:00:00 AM
Abstract :
This note presents a novel adaptive compensation scheme for Coulomb friction in a servocontrol system. An adaptive observer for estimating the unknown Coulomb friction coefficient is also derived on the basis of the Lyapunov technique. In addition, a linearizing control law is developed to compensate for the friction force and obtain the tracking objective. The proposed adaptive compensation guarantees an exponential convergence for state errors and parameter error, and known adaptive schemes guarantee only an asymptotic (or stable) convergence. Simulation results demonstrate the effectiveness of the proposed method for a single-mass servocontrol system
Keywords :
Lyapunov methods; adaptive control; asymptotic stability; compensation; convergence; friction; linearisation techniques; servomechanisms; tracking; Coulomb friction coefficient estimation; Lyapunov technique; adaptive observer; asymptotic convergence; exponential convergence; exponentially stable adaptive friction compensator; linearizing control law; parameter error; servocontrol system; single-mass servocontrol system; stable convergence; state errors; Adaptive estimation; Adaptive systems; Asymptotic stability; Control systems; Convergence; Force control; Friction; Limit-cycles; Observers; Steady-state;
Journal_Title :
Automatic Control, IEEE Transactions on
